Running control device

• US 6,997,763 B2
• Filed: 10/17/2002
• Issued: 02/14/2006
• Est. Priority Date: 10/19/2001
• Status: Expired due to Term

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Kaji, Hirotaka
• Primary Examiner(s): Morano, S. Joseph
• Assistant Examiner(s): Vasudeva, Ajay
• Application Number:
  US10/273,776
• Publication Number:
  US 20030077953A1
• Time in Patent Office: 1,216 Days
• Field of Search: 440/1, 440/2, 440/53, 440/61, 440/84, 440/87, 440/61.R, 440/61.T, 701/21
• US Class Current: 440/1
• CPC Class Codes: B63H 20/10 Means enabling trim or tilt, or lifting of the propulsion element when an obstruction is hit; Control of trim or tilt
• CPC Class Codes: F02B 61/045 for outboard marine engines
• CPC Class Codes: Y02T 10/40 Engine management systems

Abstract

A running control device for a watercraft controls propulsion force and tilt angle of a propulsion device relative to the hull of the watercraft. The running control device also sets an optimum trim angle automatically. The running control device includes a propulsion force control section that controls the propulsion force of the propulsion device. The running control device also includes a tilt angle control section that controls the tilt angle of the propulsion device. A target propulsion force calculation module responds to first input information (e.g., watercraft velocity) to calculate a target propulsion force. An amount-of-operation calculation module responds to second input information to calculate an amount of operation of the propulsion device to produce the target propulsion force. The tilt angle control section includes a tilt angle calculation module that determines the tilt angle based on the propulsion force.

Claims

1. A running control device for a watercraft having a propulsion device that produces a controllable propulsion force and having a tilt angle adjusting device that controls a tilt angle of the propulsion device, the running control device comprising:

a propulsion force control section that controls the propulsion force in response to at least a target velocity of the watercraft and a measured velocity of the watercraft, the propulsion force control section providing control signals to the propulsion device to control the propulsion force produced by the propulsion device to maintain the measured velocity of the watercraft at the target velocity; and

a tilt angle control section that controls the tilt angle adjusting device to vary the tilt angle of the propulsion device, the tilt angle control section responsive to input information responsive to propulsion force produced by the propulsion device, the tilt angle control section varying the tilt angle of the propulsion device while monitoring the input information as the propulsion force control section controls the propulsion force of the propulsion device to maintain the measured velocity at the target velocity, the tilt angle control section selecting a value for the tilt angle that minimizes the propulsion force of the propulsion device while the propulsion device maintains the measured velocity at the target velocity.

2. The running control device according to claim 1, wherein the propulsion device comprises an outboard motor.

3. The running control device according to claim 2, wherein the tilt angle calculation module increases or decreases the angle at selected time intervals to minimize the speed of the outboard motor or to minimize fuel consumption of the outboard motor while the velocity is maintained at the target velocity by the propulsion force control section.

4. The running control device according to claim 1, wherein the tilt angle calculation module increases or decreases the tilt angle of the propulsion device at predetermined control time intervals to minimize the propulsion force or to minimize fuel consumption while the velocity is maintained at the target velocity by the propulsion force control section.

5. The running control device according to claim 1, wherein the propulsion force control section comprises:

a target propulsion force calculation module that calculates a target propulsion force based on at least the target velocity of the watercraft and a measured velocity of the watercraft, the target propulsion force calculated to maintain the measured velocity of the watercraft at the target velocity of the watercraft; and

an amount-of-operation calculation module that calculates an amount of operation of the propulsion device based on an actual propulsion force produced by the propulsion device and on the target propulsion force calculated by the target propulsion force calculation module, the amount of operation calculated to cause the propulsion device to maintain the actual propulsion force at the target propulsion force.

6. The running control device according to claim 5, wherein the target propulsion force calculation module is further responsive to a steering angle of the watercraft to reduce the calculated target propulsion force in response to an increase in steering angle.

7. The running control device according to claim 6, wherein the amount-of-operation calculation module is further responsive to the steering angle of the watercraft to increase the calculated amount of operation in response to an increase in the steering angle.

8. The running control device according to claim 5, wherein the amount-of-operation calculation module is further responsive to a steering angle of the watercraft to increase the calculated amount of operation in response to an increase in the steering angle.

9. The running control device according to claim 5, wherein the propulsion device comprises an outboard motor.

10. The running control device according to claim 9, wherein the tilt angle control section increases or decreases the tilt angle at selected time intervals to minimize the speed of the outboard motor or to minimize fuel consumption of the outboard motor while the propulsion force control section controls the speed of outboard motor to maintain the actual velocity of the watercraft at the target velocity of the watercraft.

11. The running control device according to claim 5, wherein the tilt angle control section increases or decreases the tilt angle at selected time intervals to minimize the propulsion force of the propulsion device or to minimize fuel consumption of the propulsion device while the propulsion force control section controls the propulsion device to maintain the actual velocity of the watercraft at the target velocity of the watercraft.

12. A running control device for a watercraft having an engine that generates a controllable engine output that produces a propulsion force and having a tilt angle adjusting device that controls an operational angle of the engine, the running control device comprising:

an engine output control section that generates control signals to control at least one engine control device, the engine output control section responsive to at least a target velocity for the watercraft and a measured velocity of the watercraft to generate the control signals to the engine control device to cause the engine to operate at an engine speed that produces a propulsion force that maintains the measured velocity at the target velocity; and

a tilt angle control section that controls the operational angle of the engine, the tilt angle control section responsive to an input related to the propulsion force produced by the engine, the tilt angle control section varying the operational angle of the engine while monitoring the propulsion force of the engine as the control section controls the propulsion force of the engine to maintain the measured velocity at the target velocity, the tilt angle control section selecting a value for the operational angle of the engine that minimizes the propulsion force of the engine while the propulsion device maintains the measured velocity at the target velocity.

13. The running control device according to claim 12, wherein the at least one engine control device comprises at least one of an air intake control device, a fuel injection device and an ignition control device.

14. The running control device according to claim 12, wherein the tilt angle calculation module increases or decreases the operational angle of the engine at selected time intervals to minimize engine speed or to minimize fuel consumption while the measured velocity is maintained at the target velocity by the engine output control section.

15. The running control device according to claim 12, wherein the engine output control section generates signals to control the at least one engine speed control device to control the engine output based on at least the target velocity of the watercraft, the measured velocity of the watercraft and an actual engine speed, the engine output control section comprising:

a target engine speed calculation module that calculates a new target engine speed based on a current target engine speed and based on a calculated change in target engine speed, the calculated change in target engine speed responsive to at least the measured velocity and the target velocity; and

an amount-of-operation calculation module that calculates an amount of operation of the at least one engine speed control device based on a difference between the target engine speed and the currant engine speed, the amount of operation of the at least one engine speed control device outputting a signal that causes the actual engine speed to vary by an amount to reduce the difference between the actual engine speed and the target engine speed calculated by the target engine speed calculation module.

16. The running control device according to claim 15, wherein the target engine speed calculation module is further responsive to a steering angle of the watercraft to reduce the calculated change in target engine speed in response to an increase in the steering angle.

17. The running control device according to claim 16, wherein the amount-of-operation calculation module is further responsive to the steering angle of the watercraft to increase the calculated amount of operation in response to an increase in the steering angle.

18. The running control device according to claim 15, wherein the amount-of-operation calculation module is further responsive to a steering angle of the watercraft to increase the calculated amount of operation in response to an increase in the steering angle.

19. The running control device according to claim 15, wherein the tilt angle calculation module increases or decreases the operational angle of the engine at selected time intervals to minimize engine speed or to minimize fuel consumption while the actual velocity of the watercraft is maintained at the target velocity by the engine output control section.

20. A method for controlling the propulsion force and the tilt angle of a propulsion generating device on a watercraft, the method comprising:

calculating a target propulsion force based on at least a target velocity of the watercraft, a measured velocity of the watercraft and a steering operation of the watercraft;

calculating an amount of operation of the propulsion device based on the calculated target propulsion force, an actual propulsion force and the steering operation of the watercraft, the amount of operation calculated to cause the propulsion device to produce the target propulsion force; and

controlling the tilt angle of the propulsion device to minimize the propulsion force required to maintain the measured velocity of the watercraft at the target velocity of the watercraft.

21. The method according to claim 20, further comprising increasing or decreasing the tilt angle at selected time intervals to minimize the propulsion force or to minimize fuel consumption of the propulsion device while the actual velocity of the watercraft is maintained at the target velocity by controlling the propulsion force.

22. A method for controlling an engine speed and an operational angle of a outboard motor on a watercraft, the method comprising:

calculating a target engine speed in response to at least an actual velocity of the watercraft, a target velocity of the watercraft, and a steering angle of the watercraft;

calculating an amount of operation required to operate the engine at the calculated target engine speed at the steering angle of the watercraft;

generating signals responsive to the calculated amount of operation to electrically control at least one engine control device to produce the calculated amount of operation;

controlling the operational angle of the engine while maintaining the actual velocity of the watercraft at the target velocity of the watercraft to determine a minimal engine speed and a corresponding operational angle required to maintain the actual velocity at the target velocity; and

maintaining the corresponding operational angle while the actual velocity is maintained at the target velocity.

23. The method according to claim 22, further comprising increasing or decreasing the operational angle at selected time intervals to minimize the engine speed while the actual velocity of the watercraft is maintained at the target velocity to thereby minimize fuel consumption.